my-stepper.yaml

esphome:
  name: my-stepper
  platform: ESP8266
  board: d1_mini

# Enable logging
logger:

# Enable Home Assistant API
api:
  services:
    - service: control_stepper
      variables:
        target: int
        speed: float
 #       acceleration: float
 #       deceleration: float
      then:
        - stepper.set_speed:
            id: my_stepper
            speed: !lambda 'return speed;' 
#        - stepper.set_acceleration:
#            id: my_stepper
#            acceleration: !lambda 'return acceleration;'
#        - stepper.set_deceleration:
#            id: my_stepper
#            deceleration: !lambda 'return deceleration;'
        - stepper.report_position:
            id: my_stepper
            position: 0
        - stepper.set_target:
            id: my_stepper
            target: !lambda 'return target;'

ota:
  password: !secret ota_password

web_server:
 port: 80

wifi:
  ssid: !secret wifi_ssid
  password: !secret wifi_password

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "My-Stepper Fallback Hotspot"
    password: "enJFRBlGCuyC"

captive_portal:


stepper:
  - platform: a4988
    id: my_stepper
    step_pin: D3 #orange
    dir_pin:  
      number: D4 #yellow
      inverted: false
    max_speed: 4000 steps/s
    sleep_pin: D2 #brown enable
    acceleration: inf
    deceleration: inf